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arXiv 2025年

作者： Fan, Shichao Yang, Quantao Liu, Yajie Wu, Kun Che, Zhengping Liu, Qingjie Wan, Min School of Mechanical Engineering and Automation BeiHang University China School of Computer Science and Engineering BeiHang University China Beijing Innovation Center of Humanoid Robotics China KTH Royal Institute of Technology Sweden

Recently, Vision-Language-Action models (VLA) have advanced robot imitation learning, but high data collection costs and limited demonstrations hinder generalization and current imitation learning methods struggle in out-of-distribution scenarios, especially for long-horizon tasks. A key challenge is how to mitigate compounding errors in imitation learning, which lead to cascading failures over extended trajectories. To address these challenges, we propose the Diffusion Trajectory-guided Policy (DTP) framework, which generates 2D trajectories through a diffusion model to guide policy learning for long-horizon tasks. By leveraging task-relevant trajectories, DTP provides trajectory-level guidance to reduce error accumulation. Our two-stage approach first trains a generative vision-language model to create diffusion-based trajectories, then refines the imitation policy using them. Experiments on the CALVIN benchmark show that DTP outperforms state-of-the-art baselines by 25% in success rate, starting from scratch without external pretraining. Moreover, DTP significantly improves real-world robot performance. All source code and experiment videos will be released upon acceptance. Copyright © 2025, The Authors. All rights reserved.

关键词： Visual languages

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Remote Sensing Scene Classification Based on Hybrid Convolutional Neural Network and Attention Module

Remote Sensing Scene Classification Based on Hybrid Convolut...

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Advancement in Data science, E-learning and Information Systems (ICADEIS), International Conference on

作者： Muhammad Yusuf Kardawi Alexander Agung Santoso Gunawan Profesional Engineer Program Faculty of Engineering Bina Nusantara University Jakarta Indonesia Computer Science Department Faculty of Computer Science University of Indonesia Jakarta Indonesia Computer Science Department School of Computer Science Bina Nusantara University Jakarta Indonesia

ISBN: (数字)9798331513320

ISBN: (纸本)9798331513337

Remote sensing images present classification challenges due to the complexity of their structural and spatial patterns. This research explores a hybrid approach that combines convolutional neural network (CNN) and attention through feature fusion to improve scene classification accuracy in remote sensing images. The proposed architecture utilizes EfficientNet and VGGNet to extract depth features separately. The extracted features are then integrated with Dynamic Selfattention (DSA), which dynamically focuses the model on the most relevant information in the image. DSA allows the model to adaptively assign weights to different parts of the image, thus improving the discriminative ability of the model. Furthermore, a feature fusion technique is applied to combine information from different layers of the CNN and DSA modules. Experiments conducted on the UC Merced dataset showed accuracies of 0.9181 and 0.9167. These results show that the combination of CNN, DSA, and feature fusion is an effective and robust approach for remote sensing image classification.

关键词： Adaptation models Scene classification Accuracy Electronic learning Data science Feature extraction Convolutional neural networks Data mining Remote sensing Information systems

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Efficient Backbone Network Construction in Wireless Artificial Intelligent Computing Systems

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Tsinghua science and Technology 2025年第5期30卷 2300-2319页

作者： Ming Sun Xinyu Wu Yi Zhou Jin-Kao Hao Zhang-Hua Fu School of Computer Science and Engineering University of Electronic Science and Technology of China Chengdu China LERIA Université d'Angers Angers France Shenzhen Institute of Artificial Intelligence and Robotics for Society the Chinese University of Hong Kong Shenzhen China

In wireless artificial intelligent computing systems, the construction of backbone network, which determines the optimum network for a set of given terminal nodes like users, switches, and concentrators, can be naturally formed as the Steiner tree problem. The Steiner tree problem asks for a minimum edge-weighted tree spanning a given set of terminal vertices from a given graph. As a well-known graph problem, many algorithms have been developed for solving this computationally challenging problem in the past decades. However, existing algorithms typically encounter difficulties for solving large instances, i.e., graphs with a high number of vertices and terminals. In this paper, we present a novel partition-and-merge algorithm for effectively handle large-scale graphs. The algorithm breaks the input network into small subgraphs and then merges the subgraphs in a bottom-up manner. In the merging procedure, partial Steiner trees in the subgraphs are also created and optimized by an efficient local optimization. When the merging procedure ends, the algorithm terminates and reports the final solution for the input graph. We evaluated the algorithm on a wide range of benchmark instances, showing that the algorithm outperforms the best-known algorithms on large instances and competes favorably with them on small or middle-sized instances.

关键词： Steiner trees Wireless communication Heuristic algorithms Merging Benchmark testing Cyber-physical systems Search problems Graph theory Partitioning algorithms Optimization

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Crop protection and disease detection using artificial intelligence and computer vision: a comprehensive review

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Multimedia Tools and Applications 2025年第7期84卷 3723-3743页

作者： Shah, Kanish Sushra, Rajat Shah, Manan Shah, Dhairya Shah, Haard Raval, Megh Prajapati, Mitul Software Engineer Walmart SunnyvaleCA United States Atmiya Vidya Mandir Gujarat Surat India Department of Chemical Engineering School of Energy Technology Pandit Deendayal Energy University Gujarat Gandhinagar India Robotics ECE Concentration Northeastern University BostonMA United States Department of Computer Science Concentration in AI Hofstra University HempsteadNY United States Department of Chemical Engineering S. S Agrawal Institute of Engineering & Technology Gujarat Navsari India R &D Engineer Span Inspection Systems Pvt. Ltd Gujarat Gandhinagar India

The technological advancements in the field of agriculture have increased to a great extent in recent years, and many techniques have evolved from other techniques. Some methods are improved or upgraded from the previous versions by implementing a new model or using better hardware devices. This has been helpful for the farmers in increasing crop productivity, and the life expectancy of crops has also increased as the diseases inside or outside the crops can be detected much earlier, and learning at an early stage helps prevent other crops. In this paper, we have presented a study where many varieties of fruits and vegetables have been taken to determine which method was used for a particular crop. By analyzing the various works carried out by the authors, it was inferred that most of the works revolved around image processing and hyperspectral imaging. Due to this, we had also included most of the papers, particularly as the models and hardware components used were much better than other works. Then, a comparative study was done where different fruits and vegetables highlighted the two main areas: the method used and the accuracy obtained. © The Author(s), under exclusive licence to Springer science+Business Media, LLC, part of Springer Nature 2024.

关键词： Crops

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A Time-Domain Thin-Sheet Volume Integral Equation for Non-Dispersive Bi-Isotropic Media

A Time-Domain Thin-Sheet Volume Integral Equation for Non-Di...

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European Conference on Antennas and Propagation, EuCAP

作者： S. Celis Sierra R. Zhao M. Khamitova H. Bagci Electrical and Computer Engineering (ECE) Program Computer Electrical and Mathematical Science and Engineering (CEMSE) Division King Abdullah University of Science and Technology (KAUST) Thuwal Saudi Arabia School of Electronic Science and Engineering University of Electronic Science and Technology of China (UESTC) Chengdu China

ISBN: (数字)9788831299107

ISBN: (纸本)9798350366327

Bi-isotropic and bi-anisotropic materials are expected to revolutionize wireless communications through the extended use of metasurfaces. This paper proposes a time-domain integral equation solver to simulate non-dispersive biisotropic materials under the thin-sheet approximation. Thin-sheet approximation is used to convert the time-domain volume integral equation for non-dispersive bi-isotropic media into a surface integral equation. This surface equation is discretized in space using Rao-Wilton-Glisson (RWG) basis functions for the tangential components of the electric and magnetic fluxes and pulse basis functions for their normal components (relative to the surface of the thin sheet). In time, shifted Lagrange polynomials are used for discretization. Applying Galerkin testing in space and point matching in time yields a matrix system. This matrix system is solved for the unknown basis expansion coefficients at each time step via time-marching. Numerical results demonstrate the accuracy of the proposed method. Future work includes extending this solver to dispersive bi-anisotropic media and use it in the simulation of metasurface represented by generalized sheet transition conditions (GSTCs).

关键词： Wireless communication Accuracy Integral equations Media Metasurfaces Polynomials Time-domain analysis Dispersion Method of moments Testing

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An Perception Enhanced Human-Robot Skill Transfer Method for Reactive Interaction 25th

An Perception Enhanced Human-Robot Skill Transfer Method for...

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25th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2024

作者： Si, Weiyong Dong, Jiale Wang, Ning Yang, Chenguang School of Computer Science and Electronic Engineering University of Essex Wivenhoe Park ColchesterCO4 3SQ United Kingdom South China University of Technology Guangzhou510640 China Bristol Robotics Lab University of the West of England BristolBS16 1QY United Kingdom Department of Computer Science University of Liverpool LiverpoolL69 3BX United Kingdom

ISBN: (纸本)9783031720611

In this paper, we propose a trust human-robot skill transfer framework, interpretive and reactive dynamic system (IRDS), by investigating the behaviour tree (BT) and dynamic movement primitives (DMPs) enhanced by the feedback from perceived information for dynamic and uncertain tasks and environments. Human sensorimotor control allows interactions with various environments and accomplishes complex manipulation tasks with uncertainty;however, it is still hard for robots to own this capability. In this work, we aim to transfer these reactive skills to robots, which enable robots to interact with humans and environments under varying uncertainty. The main challenges of robot skill learning are the generalization, safety and stability issues during the skills learning and execution autonomously. BT was investigated for task planning and reactive interaction during the robot execution. The dynamic system-based model generates action for the low-level compliant controller. The convergence of the proposed IRDS framework under dynamic interaction and disturbance was proved by control theory. We conducted simulations and physical experiments on the real robots to evaluate the generalization performance and the convergence capability under uncertainty. And the results show that the reactivity, convergence and interaction performance can be guaranteed, and the learned skills can be transferred among different physical robot platforms. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Human robot interaction

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Breast Tumor Classification with Fine-Tuned Hyperparameter Training using Deep Learning Models

Breast Tumor Classification with Fine-Tuned Hyperparameter T...

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AI-Driven Smart Healthcare for Society 5.0

作者： Yash Maini Sanjay Kumar Singh Pranshu Saxena University School of Automation and Robotics Guru Gobind Singh Indraprastha University Surajmal Vihar Delhi India School of Computer Science Engineering and Technology Bennett University Greater Noida India

ISBN: (数字)9798331536336

ISBN: (纸本)9798331536343

Breast tumor classification plays a crucial role in early detection and treatment planning for breast cancer. In recent years, deep learning models have shown remarkable success in image-based medical diagnosis. This study focuses on improving breast tumor classification using fine-tuned hyperparameter training of deep learning models. By optimizing key parameters such as learning rate, batch size, and network architecture, the classification accuracy of models like ResNet, AlexNet, GoogleNet and VGG is enhanced. The proposed approach leverages advanced techniques such as transfer learning, data augmentation, and hyperparameter optimization algorithms (Bayesian Optimization along with population-based training) to achieve robust performance on breast cancer datasets. The proposed method is able to achieve 98.46% accuracy while classifying breast cancer dataset. Experimental results demonstrate significant improvements in classification accuracy, precision, recall, and F1-score compared to conventional approaches, making the fine-tuned models more suitable for clinical applications. The findings suggest that hyperparameter tuning in deep learning models is critical to improving model performance and generalization in breast tumor classification tasks.

关键词： Deep learning Training Accuracy Breast tumors Ultrasonic imaging Transfer learning Breast cancer Planning Optimization Tuning

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Unsupervised Cross-Domain 3D Human Pose Estimation via Pseudo-Label-Guided Global Transforms

arXiv

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arXiv 2025年

作者： Liu, Jingjing Wang, Zhiyong Fan, Xinyu Dadashzadeh, Amirhossein Liu, Honghai Mirmehdi, Majid School of Computer Science University of Bristol United Kingdom State Key Laboratory of Robotics and Systems Harbin Institute of Technology Shenzhen China School of Aerospace Engineering Xiamen University China

Existing 3D human pose estimation methods often suffer in performance, when applied to cross-scenario inference, due to domain shifts in characteristics such as camera viewpoint, position, posture, and body size. Among these factors, camera viewpoints and locations have been shown to contribute significantly to the domain gap by influencing the global positions of human poses. To address this, we propose a novel framework that explicitly conducts global transformations between pose positions in the camera coordinate systems of source and target domains. We start with a Pseudo-Label Generation Module that is applied to the 2D poses of the target dataset to generate pseudo-3D poses. Then, a Global Transformation Module leverages a human-centered coordinate system as a novel bridging mechanism to seamlessly align the positional orientations of poses across disparate domains, ensuring consistent spatial referencing. To further enhance generalization, a Pose Augmentor is incorporated to address variations in human posture and body size. This process is iterative, allowing refined pseudo-labels to progressively improve guidance for domain adaptation. Our method is evaluated on various cross-dataset benchmarks, including Human3.6M, MPI-INF-3DHP, and 3DPW. The proposed method outperforms state-of-the-art approaches and even outperforms the target-trained model. Copyright © 2025, The Authors. All rights reserved.

关键词： Three dimensional computer graphics

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VFL+: Low-Coupling Vertical Federated Learning With Privileged Information Paradigm

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IEEE Transactions on Emerging Topics in Computational Intelligence 2025年

作者： Dai, Wei Cui, Teng Zhang, Tong Chen, Badong China University of Mining Technology School of Information and Control Engineering Xuzhou221116 China South China University of Technology School of Computer Science and Engineering Guangzhou510006 China Xi'an Jiaotong University Institute of Artificial Intelligence and Robotics Xi'an710049 China

Vertical Federated Learning (VFL) enables the construction of models by combining clients with different features without compromising privacy. Existing VFL methods exhibit tightly coupled participant parameters, resulting in substantial interdependencies among clients during the prediction phase, which significantly hampers the model's usability. To tackle these challenges, this paper studies a VFL approach with low coupling of parameters between clients. Drawing inspiration from federated cooperation and teacher-supervised learning, we propose a low-coupling vertical federated learning with privileged information paradigm (VFL+), allowing participants to make autonomous predictions. Specifically, VFL+ treats information from other clients as privileged data during the training phase rather than the testing phase, thereby achieving independence in individual model predictions. Subsequently, this paper further investigates three typical scenarios of vertical cooperation and designs corresponding cooperative frameworks. Systematic experiments on real data sets demonstrate the effectiveness of the proposed method. © 2017 IEEE.

关键词： Federated learning

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Constructing Semantical Structure by Segmentation Integrated Video Embedding for Temporal Action Detection

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IEEE Transactions on Circuits and Systems for Video Technology 2025年

作者： Zhao, Zixuan Liu, Shuming Zhao, Chengze Zhao, Xu Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Shanghai200240 China King Abdullah University of Science and Technology Computer Science Program Thuwal23599 Saudi Arabia

Video embedding is the pivot in Temporal Action Detection (TAD). Once the video embedding can robustly capture the essence of actions and perceive activities in complex scenes, the TAD model can more accurately localize action boundaries. Currently, video embedding is typically based on rule-based pixel convolution or cube-based transformer, wherein structured semantic information is intertwined, leading to the submergence of crucial spatial semantic information, such as the intrinsic motion of key semantic objects and interactions among semantic objects. To address these limitations, it is imperative to explore alternative approaches. With the remarkable performance of general semantic segmentation models in visual representation, we introduce the general segmentation model SEEM into the video embedding paradigm, constructing a semantically structured representation from perceptual semantics to cognitive semantics. To more effectively utilize SEEM for structured video representation, we designed the Semantic Adapter (Sem-Adapter) as a bridge to connect the two models. Firstly, we design a Self-Motion Module (SMM) to pay attention to the self-motion of key semantic regions. Secondly, we propose a Mutual Relation Module (MRM) to construct the interactions between semantic regions. Extensive experiments on ActivityNet-1.3, THUMOS-14 and EPIC-Kitchens-100 reveal that our method significantly outperforms state-of-the-art methods under the same input modality, and our method improves the average mAP from 60.6% to 64.2% on THUMOS-14 with the same backbone. The code is available on https://***/shouxiaozixuan/semtad. © 1991-2012 IEEE.

关键词： Semantic Segmentation

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